Interactive model identification for nonholonomic cart pushed by a mobile manipulator
文献类型：会议论文
| 作者 | Sun, Yu; Tan JD(谈金东); Wang YC(王越超)
|
| 出版日期 | 2002 |
| 会议日期 | May 11-15, 2002 |
| 会议地点 | Washington, DC |
| 关键词 | Force Control Frequency Domain Analysis Kinematics Laser Applications Least Squares Approximations Mathematical Models Mobile Robots Parameter Estimation Range Finders Sensors Statistical Methods Torque Control |
| 页码 | 3966-3971 |
| 英文摘要 | A model identification method for unknown environments has been developed. By the interactions between a mobile manipulator and the unknown object, a nonholonomic cart, sensory information has been collected to estimate the model parameters of the cart, which are used to control the cart. Since the raw data are contaminated by noise they can not be modeled statistically, a wavelet based least square method is proposed to estimate these parameters for the cart. The raw signal has been decomposed into a certain bandwidth to generate a series of new signals, which are used to estimate the parameters. The new signal, which has the minimal estimation residual in least square sense is adopted as the best estimation. The error convergence of the estimation approach is given. The experimental results indicate that the estimation accuracy can be significantly improved by the use of the proposed method. |
| 源文献作者 | IEEE |
| 产权排序 | 2 |
| 会议录 | Proceedings - IEEE International Conference on Robotics and Automation, v 4, , p 3966-3971
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 1050-4729 |
| WOS记录号 | WOS:000178573200628 |
| 源URL | [http://ir.sia.cn/handle/173321/9212]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.Shenyang Institute of Automation, Chinese Academy of Science 2.Department of Electrical and Computer Engineering, Michigan State University |
| 推荐引用方式 GB/T 7714 | Sun, Yu,Tan JD,Wang YC. Interactive model identification for nonholonomic cart pushed by a mobile manipulator[C]. 见:. Washington, DC. May 11-15, 2002. |
入库方式： OAI收割
来源：沈阳自动化研究所
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